The invention provides a speed planning method and device for a driving track, equipment and a storage medium, and relates to the technical field of vehicles. The method comprises the following steps: acquiring a first predicted driving speed of a target vehicle at a first track point on a preset driving track; calculating a first to-be-controlled steering angle of the first track point according to the position of the first track point and the position of a first preview point corresponding to the first track point; calculating a second to-be-controlled steering angle of a second track point according to the position of the second track point of the target vehicle on the preset driving track and the position of a second preview point corresponding to the second track point; and according to the first predicted driving speed, the first to-be-controlled steering angle and the second to-be-controlled steering angle, calculating a second predicted driving speed of the target vehicle at the second track point. By the adoption of the method, the kinematics constraint of the target vehicle is met, meanwhile, the automatic running speed of the target vehicle is increased to the maximum degree, and the operation efficiency is improved.
本申请提供一种行驶轨迹的速度规划方法、装置、设备及存储介质,涉及车辆技术领域。该方法包括获取目标车辆在预设行驶轨迹上的第一轨迹点的第一预计行驶速度;根据第一轨迹点的位置以及第一轨迹点对应的第一预瞄点的位置,计算第一轨迹点的第一待控制转向角;根据目标车辆在预设行驶轨迹上的第二轨迹点的位置、以及第二轨迹点对应的第二预瞄点的位置,计算第二轨迹点的第二待控制转向角;根据第一预计行驶速度、第一待控制转向角以及第二待控制转向角,计算目标车辆在第二轨迹点的第二预计行驶速度。采用本申请的方法,在满足目标车辆的运动学约束的同时,最大程度的提高了目标车辆的自动行驶速度,提高了作业效率。
Speed planning method and device for driving track, equipment and storage medium
行驶轨迹的速度规划方法、装置、设备及存储介质
2024-07-30
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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